| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robocasa365/assemble_cooking_array", |
| "suite": "robocasa365", |
| "base": "robocasa365-assemble-cooking-array-i00", |
| "title_zh": "备齐烹饪食材", |
| "summary_zh": "虾与灶上平底锅接触且中心水平距离小于 0.07 米，糖浆瓶和西兰花接触指定柜台，夹爪握持点到三件物体原点的距离分别大于 0.25 米。", |
| "embodiment_zh": "两种模式均为装在欧姆龙轮式移动底盘上的弗兰卡 Panda 单臂，末端为二指夹爪，带躯干升降机构；特权模式可读仿真状态并重置，标准模式通过机器人相机和本体状态控制同一实例。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robocasa365-assemble-cooking-array-i00", |
| "bench": "robocasa365", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "shrimp_in_pan", |
| "zh": "虾放入锅中", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "灶上深色平底锅内可见从浅色盘子移来的橙黄色虾，虾与锅接触且两者中心的水平距离小于 0.07 米；仍在盘内、悬在锅上未接触或后来离锅即不成立。最终联合验收另要求夹爪握持点到虾、糖浆瓶和西兰花各自原点的三维距离均大于 0.25 米，暂时靠近已放物体不使本放置步骤失效。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "单臂的二指夹爪夹住虾，将其移到目标支承面。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:19-26", |
| "inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success", |
| "inputs/oracle/replay.mp4:0-6 s 虾从盘子移入灶上的锅" |
| ], |
| "conf": 6, |
| "note_zh": "只检查虾与锅的接触及水平距离，不添加开火、烹熟、锅仍在灶上或锅未移动等判据；抓取、抬起和释放不另拆步骤。放置关系本身可在夹爪仍接触虾时成立，故关闭持物冻结。" |
| }, |
| { |
| "id": "syrup_on_counter", |
| "zh": "糖浆瓶上台面", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "棕色糖浆瓶从蓝色上柜转移到任务指定的、与灶相邻且放有盘子的白色台面，并实际接触该柜台；成功视频中瓶子位于上柜下方、纸巾架及烤面包机附近，仍在柜内、悬空或后来离开该台面即不成立。瓶子无需直立或放在盘子里；最终联合验收还要求夹爪握持点到三件目标物原点的三维距离分别大于 0.25 米，此距离不作为本步骤单独计数的条件。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "单臂的二指夹爪夹住糖浆瓶，将其移到目标支承面。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "移动底盘支承机械臂，夹爪持有糖浆瓶时可随底盘移到台面上方；固定底盘是否足够未能证明，按规则 S17 保留此接触。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:19-26", |
| "inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success", |
| "inputs/oracle/replay.mp4:8-20 s 柜内糖浆瓶转移至下方台面", |
| "inputs/oracle/run.json:1 steps[id=90].calls 中持瓶时移动底盘与升降躯干" |
| ], |
| "conf": 6, |
| "note_zh": "瓶子与目标柜台的接触是本步骤验收；夹爪远离三物体是联合验收。文本的出柜过程合并在台面放置中（D5），不要求使用特定抓点或保持瓶子直立；接触可在持物时成立，故关闭持物冻结。" |
| }, |
| { |
| "id": "broccoli_on_counter", |
| "zh": "西兰花上台面", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "绿色西兰花从蓝色上柜转移到与糖浆瓶相同的目标白色台面，并实际接触该柜台；成功视频中它位于纸巾架附近，仍在柜内、仅悬在台面上方或后来离开该台面即不成立。最终联合验收另要求夹爪握持点到虾、糖浆瓶和西兰花各自原点的三维距离均大于 0.25 米，不要求这段距离在放置其他物体时始终保持。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "单臂的二指夹爪夹住西兰花，将其移到目标支承面。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "移动底盘支承机械臂，夹爪持有西兰花时可随底盘移到台面上方；固定底盘是否足够未能证明，按规则 S17 保留此接触。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:19-26", |
| "inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success", |
| "inputs/oracle/replay.mp4:20-32.6 s 西兰花从柜内放至白色台面，夹爪撤离", |
| "inputs/oracle/run.json:1 steps[id=90].calls 中持西兰花时移动底盘与升降躯干" |
| ], |
| "conf": 6, |
| "note_zh": "与糖浆瓶不同类，单独一个节点；两者无先后依赖。只检查目标柜台接触，无额外姿态、静止或持续时间要求；接触可在持物时成立，故关闭持物冻结。" |
| }, |
| { |
| "id": "cabinet_opened_further", |
| "zh": "进一步开柜门", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "遮挡所选进柜路线的蓝色柜门相对初态进一步向外转开，使手臂更容易接近柜内糖浆瓶或西兰花；仅机器人从门板下方绕过、柜门未继续转开不算此准备步骤。无需达到某个臆测角度，成功视频展示可绕过柜门直接取物，故这一步可跳过。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "二指夹爪握住蓝色柜门把手，将柜门进一步向外拉开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 2, |
| "note_zh": "张开的夹爪推拨蓝色柜门边缘，使门板进一步转开。" |
| } |
| ], |
| "optional": true, |
| "verify_zh": "待核实：输入未提供柜门初始关节角；视频可见已有开口，成功路线无需进一步开门。", |
| "sources": [ |
| "inputs/oracle/replay.mp4:6-12 s 机器人从已留开口的蓝色柜门下方直接伸向柜内", |
| "inputs/oracle/run.json:1 steps[id=90].calls 及 steps[id=108].say，绕过柜门的成功路线", |
| "docs/CASES.md:55-57 此任务柜门操作可选，适合定位卡顿" |
| ], |
| "conf": 6, |
| "note_zh": "仅作可选准备分支，不计进度分母，不作为任何放置节点的前驱。其作用是让所选路线的柜门让开，而非要求已可通行的柜门必须再次打开。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "meat_in_pan", |
| "level": "new_code", |
| "source": "需新增逐帧字段 dyn.meat_in_pan：记录 AssembleCookingArray._check_success 中 OU.check_obj_in_receptacle(self, meat, pan, th=0.07)；证据 inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success" |
| }, |
| { |
| "atom": "condiment_on_counter", |
| "level": "new_code", |
| "source": "需新增逐帧字段 dyn.condiment_on_counter：记录 OU.check_obj_fixture_contact(self, condiment, self.counter)；证据 inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success" |
| }, |
| { |
| "atom": "vegetable_on_counter", |
| "level": "new_code", |
| "source": "需新增逐帧字段 dyn.vegetable_on_counter：记录 OU.check_obj_fixture_contact(self, vegetable, self.counter)；证据 inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success" |
| }, |
| { |
| "atom": "gripper_far_all_targets", |
| "level": "new_code", |
| "source": "需新增逐帧字段 dyn.gripper_far_all_targets：三个原生 gripper_obj_far 判据的合取（握持点到每物体原点距离 >0.25 m）；证据 inputs/task/privileged/instruction.md:19-26；仅用于联合 success。" |
| }, |
| { |
| "atom": "cabinet_opened_further", |
| "level": "new_code", |
| "source": "需新增逐帧柜门关节值及其初值和所选进柜路线；用于可选的进一步开门，现无初始角度与可绑定日志。" |
| } |
| ] |
| }, |
| "native_metrics": [], |
| "open_questions_zh": [ |
| "inputs/states/index.json 的日志列表为空；依 P8，所有节点 when 和联合 success 均为 null。视频支持目标几何，但接触、精确距离与逐帧成立时间不能由状态日志复核；atoms 仅列需要补记的字段，未伪造现有日志绑定。", |
| "评分器任务类和 object_utils 的完整源码未单独包含在输入中；已核对 instruction.md:19-26 的数值与定义，并核对 oracle/run.json 中步骤45保留的 _check_success 六项合取；其余辅助函数片段被原始运行记录截断，不能进一步复核。", |
| "文本的“然后”未对应原生阶段顺序：保留三个放置结果，按规则4不添加虾先于瓶子或西兰花的习惯边；评分器只要求最终六项条件同时成立。", |
| "按 D5 当前规则，“从橱柜移到台面”各为一个放置步骤；评分器只检查终点柜台接触，出柜不是独立目标，不另立取出节点。", |
| "柜门已有可取物开口，成功视频从门下方取物且未先开门；进一步开柜仅为可选准备步骤。初始关节角和开口尺寸缺失，不设数值阈值，也不强加开柜依赖。", |
| "特权模式评分器要求两次重放确定性且初态未成功，标准模式评判最后一步后的实时状态且排除仿真错误；两者物理成功条件相同。交付有效性和错误状态不建语义节点或约束。", |
| "夹爪到三物体均大于 0.25 米的条件已在两种模式的说明中明示；按 STEP-5 只属于联合 success，不分摊到三个放置步骤，不另设撤手节点。瓶子直立、物体静止、灶台开启及烹熟均不受此任务评分。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "三个必需步骤直接来自文本，评分合取和距离阈值由两种模式说明及成功运行中记录的任务代码相互印证；成功视频支持柜门可绕过。没有状态日志，精确接触与数值不能逐帧验证，柜门初始角度和辅助函数完整实现也未提供。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 6, |
| "summary_zh": "三个必需放置步骤与文本及评分器一致，夹爪远离条件正确放在联合 success 的原子说明中；无状态日志故 when 全为 null（P8），可选开柜节点符合 CASES.md STEP-3 的建议；未发现需要修改内容的错误。", |
| "n_issues": 0, |
| "n_major": 0 |
| } |
| ], |
| "open_zh": [] |
| }, |
| "evidence_check": { |
| "n_state_runs": 0, |
| "n_faithful": 0, |
| "success_runs_reaching_all": "0/0", |
| "spec_success_eq_grader": "0/0", |
| "diverged_runs": [], |
| "notes_zh": [ |
| "when=null 的节点不在状态日志上检查：['shrimp_in_pan', 'syrup_on_counter', 'broccoli_on_counter', 'cabinet_opened_further']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T01:51:38Z", |
| "review_prompt": "prompts/02_task_dag_review.md", |
| "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85", |
| "reconcile_prompt": "prompts/05_reconcile.md", |
| "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83", |
| "calls": [ |
| { |
| "stage": "dag", |
| "round": 0, |
| "ok": true, |
| "space": "work/tasks/robocasa365__assemble_cooking_array/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robocasa365__assemble_cooking_array/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "128cfe9f43a3220cbd676a6ab08d08ffb9b96c087ea8c941e07aefa341ffab97", |
| "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" |
| } |
| } |
|
|
